Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers

• Published in: IEEE transactions on robotics Vol. 20; no. 5; pp. 921 - 927
• Main Authors: Iagnemma, K., Shinwoo Kang, Shibly, H., Dubowsky, S.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.10.2004; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Applied sciences; Autonomous; Computational modeling; Computer science; control theory; systems; Control theory. Systems; Equations; Exact sciences and technology; Friction; Humans; Mathematical analysis; Mechanical engineering; Mobile robots; On-line systems; Online; Parameter estimation; Robot sensing systems; Robotics; Robots; Soil; Soil (material); Soils; Space exploration; Terrain; Wheels; Space application; Autonomous system; Crosscountry vehicle; Parameter estimation; Moving robot; Control program; System identification; Robotics
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2004.829462

Future planetary exploration missions will require wheeled mobile robots ("rovers") to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper, an online estimation method that identifies key terrain parameters using on-board robot sensors is presented. These parameters can be used for traversability prediction or in a traction control algorithm to improve robot mobility and to plan safe action plans for autonomous systems. Terrain parameters are also valuable indicators of planetary surface soil composition. The algorithm relies on a simplified form of classical terramechanics equations and uses a linear-least squares method to compute terrain parameters in real time. Simulation and experimental results show that the terrain estimation algorithm can accurately and efficiently identify key terrain parameters for various soil types.